- change OSAL_TASK_FUNCTION to have void* parameter (to be consistent with most popular RTOS)

- add new error enum TUSB_ERROR_OSAL_TASK_CREATE_FAILED
- move usbh_enumeration_task prototype to usbh.h
- change OSAL_SUBTASK_INVOKED_AND_WAIT behavior, will not "return" in calling task when subtask got error status.
calling task need to do that after the call
- osal_queue_receive signature from uint32_t* to void*

- implement osal_freertos.h for FreeRTOS 7.3 --> able to compile & build host_freertos
+ OSAL_TASK_FUNCTION
+ turn on FPU for M4 in both host_os_none & host_freertos (freertos requires FPU to be on to compile)
+ osal_task_create
+ OSAL_SUBTASK_INVOKED_AND_WAIT
+ SUBTASK_ASSERT
+ osal_semaphore_reset
+ osal_queue_flush
+ adding heap_1.c for memory management

3 files changed, 58 insertions, 43 deletions

diff --git a/tinyusb/osal/osal.h b/tinyusb/osal/osal.h
index 8c33dc273..f0174c080 100644
--- a/tinyusb/osal/osal.h
+++ b/tinyusb/osal/osal.h
@@ -90,19 +90,20 @@ tusb_error_t osal_task_create(osal_task_t *task);
     osal_task_t name
 
 #define OSAL_TASK_FUNCTION(task_name) \
-    void task_name(void)
+    void task_name
 
 #define OSAL_TASK_LOOP_BEGIN
 #define OSAL_TASK_LOOP_END
 
 //------------- Sub Task -------------//
-#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask) SUBTASK_ASSERT_STATUS(subtask)
+#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask, status) \
+  status = subtask
 
 #define OSAL_SUBTASK_BEGIN
 #define OSAL_SUBTASK_END \
   return TUSB_ERROR_NONE;
 
-//------------- Sub Task Assert (like Task but return error) -------------//
+//------------- Sub Task Assert -------------//
 #define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call)\
     func_call; return error
 
@@ -153,7 +154,7 @@ typedef osal_queue_t * osal_queue_handle_t;
   osal_queue_t name
 
 osal_queue_handle_t  osal_queue_create  (osal_queue_t *p_queue);
-void                 osal_queue_receive (osal_queue_handle_t const queue_hdl, uint32_t *p_data, uint32_t msec, tusb_error_t *p_error);
+void                 osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error);
 tusb_error_t         osal_queue_send    (osal_queue_handle_t const queue_hdl, const void * data);
 void osal_queue_flush(osal_queue_handle_t const queue_hdl);
 
diff --git a/tinyusb/osal/osal_freeRTOS.h b/tinyusb/osal/osal_freeRTOS.h
index 53986ad97..d92cb374c 100644
--- a/tinyusb/osal/osal_freeRTOS.h
+++ b/tinyusb/osal/osal_freeRTOS.h
@@ -57,7 +57,7 @@
 #include "FreeRTOS.h"
 #include "semphr.h"
 #include "queue.h"
-//#include "task.h"
+#include "task.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -71,6 +71,9 @@ extern "C" {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+#define OSAL_TASK_FUNCTION(task_func) \
+  void task_func
+
 typedef struct {
   signed portCHAR const * name;
   pdTASK_CODE code;
@@ -86,9 +89,12 @@ typedef struct {
       .prio        = task_prio          \
   };
 
-#define OSAL_TASK_FUNCTION(task_name) \
-  void task_name(void *p_task_para)
-
+static inline tusb_error_t osal_task_create(osal_task_t *task) ATTR_ALWAYS_INLINE;
+static inline tusb_error_t osal_task_create(osal_task_t *task)
+{
+  return pdPASS == xTaskCreate(task->code, task->name, task->stack_depth, NULL, task->prio, NULL) ?
+    TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TASK_CREATE_FAILED;
+}
 
 #define OSAL_TASK_LOOP_BEGIN \
   while(1) {
@@ -100,26 +106,24 @@ typedef struct {
 #define OSAL_SUBTASK_BEGIN // TODO refractor move
 #define OSAL_SUBTASK_END
 
-//------------- Task Assert -------------//
-#define TASK_RESTART
+#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask, status) \
+  status = subtask
 
-// TODO FreeRTOS TASK_ASSERT need to omit do while to get continue statement works.
-#define _TASK_ASSERT_ERROR_HANDLER(error, func_call) \
-  func_call; TASK_RESTART;
+//------------- Sub Task Assert -------------//
 
-#define TASK_ASSERT(condition)
-#define TASK_ASSERT_STATUS(sts)
+#define SUBTASK_ASSERT_STATUS(sts) ASSERT_STATUS(sts)
+#define SUBTASK_ASSERT(condition)  ASSERT(condition, TUSB_ERROR_OSAL_TASK_FAILED)
 
-#define TASK_ASSERT_WITH_HANDLER(condition, func_call) \
-    ASSERT_DEFINE_WITH_HANDLER(_TASK_ASSERT_ERROR_HANDLER, func_call, ,\
-                               condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
+#define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call)\
+    func_call; return error
 
+#define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call) \
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
+                               TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
 
-//------------- Sub Task Assert -------------//
-#define SUBTASK_ASSERT_STATUS               TASK_ASSERT_STATUS
-#define SUBTASK_ASSERT_STATUS_WITH_HANDLER  TASK_ASSERT_STATUS_WITH_HANDLER
-#define SUBTASK_ASSERT                      TASK_ASSERT
-#define SUBTASK_ASSERT_WITH_HANDLER         TASK_ASSERT_WITH_HANDLER
+#define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call) \
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, ,\
+                               condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
 
 //--------------------------------------------------------------------+
 // Semaphore API
@@ -131,11 +135,12 @@ typedef xSemaphoreHandle osal_semaphore_handle_t;
 #define osal_semaphore_create(x) \
   xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
 
+// TODO add timeout (with instant return from ISR option) for semaphore post & queue send
 static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
 static inline  tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl)
 {
-  portBASE_TYPE taskWaken;
-  return (xSemaphoreGiveFromISR(sem_hdl, &taskWaken) == pdTRUE) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_SEMAPHORE_FAILED;
+  portBASE_TYPE task_waken;
+  return (xSemaphoreGiveFromISR(sem_hdl, &task_waken) == pdTRUE) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_SEMAPHORE_FAILED;
 }
 
 static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
@@ -144,6 +149,13 @@ static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, ui
   (*p_error) = ( xSemaphoreTake(sem_hdl, osal_tick_from_msec(msec)) == pdPASS ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
 }
 
+static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
+static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl)
+{
+  portBASE_TYPE task_waken;
+  xSemaphoreTakeFromISR(sem_hdl, &task_waken);
+}
+
 //--------------------------------------------------------------------+
 // QUEUE API
 //--------------------------------------------------------------------+
@@ -161,8 +173,8 @@ typedef xQueueHandle osal_queue_handle_t;
 #define osal_queue_create(p_queue) \
   xQueueCreate((p_queue)->depth, sizeof(uint32_t))
 
-static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, uint32_t *p_data, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
-static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, uint32_t *p_data, uint32_t msec, tusb_error_t *p_error)
+static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
+static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error)
 {
   (*p_error) = ( xQueueReceive(queue_hdl, p_data, osal_tick_from_msec(msec)) == pdPASS ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
 }
@@ -174,6 +186,12 @@ static inline tusb_error_t osal_queue_send(osal_queue_handle_t const queue_hdl,
   return ( xQueueSendFromISR(queue_hdl, data, &taskWaken) == pdTRUE ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_QUEUE_FAILED;
 }
 
+static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl) ATTR_ALWAYS_INLINE;
+static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl)
+{
+  xQueueReset(queue_hdl);
+}
+
 #ifdef __cplusplus
  }
 #endif
diff --git a/tinyusb/osal/osal_none.h b/tinyusb/osal/osal_none.h
index 2aaa9b784..66b2bd0ca 100644
--- a/tinyusb/osal/osal_none.h
+++ b/tinyusb/osal/osal_none.h
@@ -90,10 +90,10 @@ static inline volatile uint32_t osal_tick_get(void)
 #define OSAL_TASK_DEF(name, code, stack_depth, prio)
 #define osal_task_create(x) TUSB_ERROR_NONE
 
-#define OSAL_TASK_FUNCTION(task_name) \
-  tusb_error_t task_name(void)
-
-#define TASK_RESTART state = 0
+#define OSAL_TASK_FUNCTION(task_func) \
+  tusb_error_t task_func
+#define TASK_RESTART \
+  state = 0
 
 #define OSAL_TASK_LOOP_BEGIN \
   static uint32_t timeout = 0;\
@@ -108,41 +108,37 @@ static inline volatile uint32_t osal_tick_get(void)
   return TUSB_ERROR_NONE;
 
 //------------- Sub Task -------------//
-#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask) \
+#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask, status) \
   do {\
     state = __LINE__; case __LINE__:\
     {\
-      tusb_error_t status = subtask; /* invoke sub task */\
+      status = subtask; /* invoke sub task */\
       if (TUSB_ERROR_OSAL_WAITING == status) /* sub task not finished -> continue waiting */\
         return TUSB_ERROR_OSAL_WAITING;\
-      else if (TUSB_ERROR_NONE != status) { /* sub task failed -> restart task*/\
-        TASK_RESTART;\
-        return status;\
-      }/* sub task finished ok --> continue */\
     }\
   }while(0)
 
 #define OSAL_SUBTASK_BEGIN  OSAL_TASK_LOOP_BEGIN
 #define OSAL_SUBTASK_END    OSAL_TASK_LOOP_END
 
-//------------- Task Assert -------------//
-#define _TASK_ASSERT_ERROR_HANDLER(error, func_call) \
+//------------- Sub Task Assert -------------//
+#define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call) \
   func_call; TASK_RESTART; return error
 
 #define SUBTASK_ASSERT_STATUS(sts) \
-    ASSERT_DEFINE_WITH_HANDLER(_TASK_ASSERT_ERROR_HANDLER, , tusb_error_t status = (tusb_error_t)(sts),\
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , tusb_error_t status = (tusb_error_t)(sts),\
                                TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
 
 #define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call) \
-    ASSERT_DEFINE_WITH_HANDLER(_TASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
                                TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
 
 #define SUBTASK_ASSERT(condition)  \
-    ASSERT_DEFINE_WITH_HANDLER(_TASK_ASSERT_ERROR_HANDLER, , , \
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, , , \
                                (condition), TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
 
 #define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call) \
-    ASSERT_DEFINE_WITH_HANDLER(_TASK_ASSERT_ERROR_HANDLER, func_call, ,\
+    ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, ,\
                                condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
 
 //--------------------------------------------------------------------+